Equipment positioning method and device

A positioning method and technology of a positioning device, which are applied in the computer field, can solve the problems of lack of reliability of estimation results, easy loss of positioning results, and inability to retrieve them again, so as to avoid the difficulty of iterative calculation of associated information, the positioning is not easily lost, and the calculation is easy. Effect

Pending Publication Date: 2021-10-22
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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Problems solved by technology

Although it can be overcome by the joint ICP method, there are still computationally complex defects caused by the search point correlation or the search point-line correlation, and there is a lack of indicators for judging whether the estimation results are reliable;
[0005] 2. The positioning results of the scan matching method are easy to lose, and cannot be retrieved after being lost

Method used

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  • Equipment positioning method and device
  • Equipment positioning method and device
  • Equipment positioning method and device

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Embodiment Construction

[0074] Exemplary embodiments of the present invention are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present invention to facilitate understanding, and they should be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

[0075] see figure 1 , which shows a main flow chart of a device positioning method provided by an embodiment of the present invention, including the following steps:

[0076] S101: Obtain the pose estimated by the adaptive Monte Carlo positioning AMCL for the target device;

[0077] S102: Using the estimated pose as an initial pose, correct the initial pose using a scan ...

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Abstract

The invention discloses an equipment positioning method and device, and relates to the technical field of computers. The method comprises the following steps: acquiring a pose estimated by an adaptive Monte Carlo localization (AMCL) for target equipment; taking the estimated pose as an initial pose, and correcting the initial pose by using a scanning matching method to obtain a scanning matching pose; and taking the scanning matching pose as a positioning result of the target equipment. According to the embodiment, AMCL and a scanning matching method are fused, the defect of difficulty in iterative calculation of associated information in ICP and related methods thereof is avoided, meanwhile, indexes and judgment conditions for detecting positioning reliability are provided, and it is guaranteed that an accurate pose is output.

Description

technical field [0001] The present invention relates to the field of computer technology, in particular to a device positioning method and device. Background technique [0002] The positioning method refers to calculating the pose (position and attitude) of the measuring device in the map. This method can also be used to locate various mobile devices equipped with measuring equipment, such as unmanned vehicles and drones. The existing positioning mainly includes the following types: adaptive Monte Carlo localization (Adaptive Monte Carlo Localization, abbreviated as AMCL), AMCL and ICP (Iterative Closest Point, iterative closest point method) joint method, based on occupancy value (occu pancyvalue) linear interpolation scan matching method (short for scan matching method). [0003] In the process of realizing the present invention, the inventor finds that there are at least the following problems in the prior art: [0004] 1. The positioning accuracy of AMCL is low, usual...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/89G01S17/06
CPCG01S17/89G01S17/06
Inventor 张健
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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